From 6f3bb680745f25d7ba8c671e2d7c63898e89dc76 Mon Sep 17 00:00:00 2001
From: rayvburn <j.karwowski@stud.elka.pw.edu.pl>
Date: Sat, 19 Feb 2022 22:29:26 +0100
Subject: [PATCH] hubero_bringup_gazebo_ros - RGBD cameras detached from actor
 bodies (introduces unnecessary computational cost) (#37, #21)

---
 .../worlds/parking.world                      | 185 +-----------------
 1 file changed, 1 insertion(+), 184 deletions(-)

diff --git a/hubero_bringup_gazebo_ros/worlds/parking.world b/hubero_bringup_gazebo_ros/worlds/parking.world
index 7f751b55..2dd535e7 100644
--- a/hubero_bringup_gazebo_ros/worlds/parking.world
+++ b/hubero_bringup_gazebo_ros/worlds/parking.world
@@ -3402,52 +3402,6 @@
         <scale>1.0</scale>
       </skin>
 
-      <!-- camera sensor -->
-      <!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
-      <link name="camera_link">
-        <sensor name="camera" type="depth">
-        <!-- CS info: x - side axis, y - height, z - person's nose heading -->
-        <pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
-        <visualize>true</visualize>
-        <update_rate>2.5</update_rate>
-          <camera name="head">
-            <horizontal_fov>1.047198</horizontal_fov>
-            <image>
-              <width>640</width>
-              <height>480</height>
-              <format>R8G8B8</format>
-            </image>
-            <clip>
-              <near>0.05</near>
-              <far>300</far>
-            </clip>
-          </camera>
-          <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
-            <baseline>0.2</baseline>
-            <alwaysOn>true</alwaysOn>
-            <updateRate>0.0</updateRate>
-            <cameraName>actor1/eyes</cameraName>
-            <imageTopicName>/hubero/actor1/receptor/camera/color/image_raw</imageTopicName>
-            <cameraInfoTopicName>/hubero/actor1/receptor/camera/color/camera_info</cameraInfoTopicName>
-            <depthImageTopicName>/hubero/actor1/receptor/camera/depth/image_raw</depthImageTopicName>
-            <depthImageInfoTopicName>/hubero/actor1/receptor/camera/depth/camera_info</depthImageInfoTopicName>
-            <pointCloudTopicName>/hubero/actor1/receptor/camera/depth/cloud</pointCloudTopicName>
-            <frameName>actor1/base_camera_link</frameName>
-            <pointCloudCutoff>0.5</pointCloudCutoff>
-            <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
-            <CxPrime>0</CxPrime>
-            <Cx>0</Cx>
-            <Cy>0</Cy>
-            <focalLength>0</focalLength>
-            <hackBaseline>0</hackBaseline>
-          </plugin>
-        </sensor>
-      </link>
       <!-- laser sensor -->
       <link name="laser_link">
         <sensor type="gpu_ray" name="laser">
@@ -3556,52 +3510,6 @@
         <scale>1.0</scale>
       </skin>
 
-      <!-- camera sensor -->
-      <!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
-      <link name="camera_link">
-        <sensor name="camera" type="depth">
-        <!-- CS info: x - side axis, y - height, z - person's nose heading -->
-        <pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
-        <visualize>true</visualize>
-        <update_rate>2.5</update_rate>
-          <camera name="head">
-            <horizontal_fov>1.047198</horizontal_fov>
-            <image>
-              <width>640</width>
-              <height>480</height>
-              <format>R8G8B8</format>
-            </image>
-            <clip>
-              <near>0.05</near>
-              <far>300</far>
-            </clip>
-          </camera>
-          <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
-            <baseline>0.2</baseline>
-            <alwaysOn>true</alwaysOn>
-            <updateRate>0.0</updateRate>
-            <cameraName>actor2/eyes</cameraName>
-            <imageTopicName>/hubero/actor2/receptor/camera/color/image_raw</imageTopicName>
-            <cameraInfoTopicName>/hubero/actor2/receptor/camera/color/camera_info</cameraInfoTopicName>
-            <depthImageTopicName>/hubero/actor2/receptor/camera/depth/image_raw</depthImageTopicName>
-            <depthImageInfoTopicName>/hubero/actor2/receptor/camera/depth/camera_info</depthImageInfoTopicName>
-            <pointCloudTopicName>/hubero/actor2/receptor/camera/depth/cloud</pointCloudTopicName>
-            <frameName>actor2/base_camera_link</frameName>
-            <pointCloudCutoff>0.5</pointCloudCutoff>
-            <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
-            <CxPrime>0</CxPrime>
-            <Cx>0</Cx>
-            <Cy>0</Cy>
-            <focalLength>0</focalLength>
-            <hackBaseline>0</hackBaseline>
-          </plugin>
-        </sensor>
-      </link>
       <!-- laser sensor -->
       <link name="laser_link">
         <sensor type="gpu_ray" name="laser">
@@ -3710,52 +3618,6 @@
         <scale>1.0</scale>
       </skin>
 
-      <!-- camera sensor -->
-      <!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
-      <link name="camera_link">
-        <sensor name="camera" type="depth">
-        <!-- CS info: x - side axis, y - height, z - person's nose heading -->
-        <pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
-        <visualize>true</visualize>
-        <update_rate>2.5</update_rate>
-          <camera name="head">
-            <horizontal_fov>1.047198</horizontal_fov>
-            <image>
-              <width>640</width>
-              <height>480</height>
-              <format>R8G8B8</format>
-            </image>
-            <clip>
-              <near>0.05</near>
-              <far>300</far>
-            </clip>
-          </camera>
-          <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
-            <baseline>0.2</baseline>
-            <alwaysOn>true</alwaysOn>
-            <updateRate>0.0</updateRate>
-            <cameraName>actor3/eyes</cameraName>
-            <imageTopicName>/hubero/actor3/receptor/camera/color/image_raw</imageTopicName>
-            <cameraInfoTopicName>/hubero/actor3/receptor/camera/color/camera_info</cameraInfoTopicName>
-            <depthImageTopicName>/hubero/actor3/receptor/camera/depth/image_raw</depthImageTopicName>
-            <depthImageInfoTopicName>/hubero/actor3/receptor/camera/depth/camera_info</depthImageInfoTopicName>
-            <pointCloudTopicName>/hubero/actor3/receptor/camera/depth/cloud</pointCloudTopicName>
-            <frameName>actor3/base_camera_link</frameName>
-            <pointCloudCutoff>0.5</pointCloudCutoff>
-            <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
-            <CxPrime>0</CxPrime>
-            <Cx>0</Cx>
-            <Cy>0</Cy>
-            <focalLength>0</focalLength>
-            <hackBaseline>0</hackBaseline>
-          </plugin>
-        </sensor>
-      </link>
       <!-- laser sensor -->
       <link name="laser_link">
         <sensor type="gpu_ray" name="laser">
@@ -3863,52 +3725,7 @@
         <filename>walk.dae</filename>
         <scale>1.0</scale>
       </skin>
-      <!-- camera sensor -->
-      <!-- http://gazebosim.org/tutorials?tut=ros_gzplugins#OpenniKinect -->
-      <link name="camera_link">
-        <sensor name="camera" type="depth">
-        <!-- CS info: x - side axis, y - height, z - person's nose heading -->
-        <pose>0 0.55 +0.15 0 -1.57 -1.57</pose>
-        <visualize>true</visualize>
-        <update_rate>2.5</update_rate>
-          <camera name="head">
-            <horizontal_fov>1.047198</horizontal_fov>
-            <image>
-              <width>640</width>
-              <height>480</height>
-              <format>R8G8B8</format>
-            </image>
-            <clip>
-              <near>0.05</near>
-              <far>300</far>
-            </clip>
-          </camera>
-          <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
-            <baseline>0.2</baseline>
-            <alwaysOn>true</alwaysOn>
-            <updateRate>0.0</updateRate>
-            <cameraName>actor4/eyes</cameraName>
-            <imageTopicName>/hubero/actor4/receptor/camera/color/image_raw</imageTopicName>
-            <cameraInfoTopicName>/hubero/actor4/receptor/camera/color/camera_info</cameraInfoTopicName>
-            <depthImageTopicName>/hubero/actor4/receptor/camera/depth/image_raw</depthImageTopicName>
-            <depthImageInfoTopicName>/hubero/actor4/receptor/camera/depth/camera_info</depthImageInfoTopicName>
-            <pointCloudTopicName>/hubero/actor4/receptor/camera/depth/cloud</pointCloudTopicName>
-            <frameName>actor4/base_camera_link</frameName>
-            <pointCloudCutoff>0.5</pointCloudCutoff>
-            <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
-            <CxPrime>0</CxPrime>
-            <Cx>0</Cx>
-            <Cy>0</Cy>
-            <focalLength>0</focalLength>
-            <hackBaseline>0</hackBaseline>
-          </plugin>
-        </sensor>
-      </link>
+
       <!-- laser sensor -->
       <link name="laser_link">
         <sensor type="gpu_ray" name="laser">